Glider dive log

HoodCanal 19Jun23 * SG253 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 253 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 4 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 19 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 ROLL_MAXERRORS 1 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 1.7

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.89483023 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 6.6156788 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -186.595 SEABIRD_T_J 4.3e-06

MASS 72374 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022830076 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 240 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3850 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.89483023 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.6156788 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 14 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 253 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT 1.7 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022830076 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -186.595 T_NO_W 120

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72374 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 3850 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 19 MISSION 4 ROLL_MIN 240 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 200623,114510,4735.928,-12256.793,2,1.1,31,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,114834,4735.927,-12256.770,2,0.7,3,15.4 MHEAD_RNG_PITCHd_Wd 3.0,1178,-17.6,-10.000,-21.21,2209,0.165

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.191162,-1919.098877,522.196289

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0000.n 874 0 _10V_AH 14.99,0.000

NET_PING 1687264510,29,375.310516,16.000000,-0.524498 FG_AHR_24Vo 6.821

NAV 1687264214,56.8,0,stop FG_AHR_10Vo 0.926

FREEZE 4.44,14.849,-1.473,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3502.55,212.55,1.002,0,500.9,580.0,421.9,686.61 MEM2 945740,32,100828,68

SM_GC 2.34,0.00,12.02,0.09,0.000,0.077,0.155,496.6,571.8,421.4,189.2,2053.5,0,0,0,30.00,15.56,15.57 DATA_FILE_SIZE 12967,453

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 172536,0

IRIDIUM_FIX 4736.00,-12258.89,200623,105219 SDSIZE 3887104,3868736

TCM_TEMP 15.76 SDFILEDIR 169,20

SC_FREEKB 3872576 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.019, 86.8,1

HUMID 44.42 MAGCAL 1.000000,0.003510,-0.034108,0.010777,1.067857,0.064016,-0.002354,0.055305,1.143537,-767.8,-1801.2,145.8,35,0.0169,0

TEMP 10.65 IMPLIED_C_PITCH 1619,13.97,235,0.0,0.00

INTERNAL_PRESSURE 7.93402 IMPLIED_C_VBD 3108,20.437967,235,0

_24V_AH 14.96,6.357 GPS 200623,124950,4736.320,-12256.579,0,1.1,2,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 730 1199 13109.12 nil 0 0 0.00

Pitch_motor 26 284 112.09 nil 0 0 0.00

Roll_motor 50 227 170.47 nil 0 0 0.00

Iridium 133 147 295.14 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 2282 5 175.17 SciCon 3273 6 339.56

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1282 0 6.15

Compass 1143 5 85.68

RAFOS 309 40 185.53

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.86 16386 -146.63 -1.44 0.00 494.2 567.3 421.0 189.4 2000.5 0.00 0.00 0 62.21 50.17 0.00 0.00 0.005 0.000 0.000 1853.34 1925.56 1781.12 189.38 2000.81 0 0 0 15.91 30.00 30.00

62.73 18983 -146.63 -1.44 -80.00 1855.6 1926.8 1784.4 189.4 2000.8 3.17 -3.51 10 150.97 58.42 8.45 3.55 0.005 0.284 0.147 3900.00 3877.12 3922.88 1251.31 558.31 0 0 0 15.92 15.77 15.84

290.05 3205 -146.63 -1.32 0.00 3900.3 3877.8 3922.9 1251.8 558.2 32.67 -15.66 53 298.29 0.00 0.20 3.38 0.000 0.227 0.066 3900.16 3877.62 3922.69 1280.75 2047.38 0 0 0 30.00 15.88 15.94

487.17 516 -146.63 -1.32 -80.00 3900.6 3878.2 3923.0 1280.8 2048.3 57.23 -11.71 85 496.09 0.00 0.00 3.67 0.000 0.000 0.140 3900.22 3878.12 3922.31 1280.56 554.69 0 0 0 30.00 30.00 15.92

515.27 1156 -146.63 -1.26 0.00 3901.1 3878.9 3923.2 1281.3 554.4 60.77 -12.55 90 523.83 0.00 0.00 3.41 0.000 0.000 0.064 3900.81 3879.12 3922.50 1281.31 2049.00 0 0 0 30.00 30.00 15.97

706.53 0 -146.63 -1.26 0.00 3901.2 3878.7 3923.7 1280.8 2049.0 82.96 -11.68 108 708.40 0.00 0.00 0.00 0.000 0.000 0.000 3900.91 3878.50 3923.31 1280.75 2049.00 0 0 0 30.00 30.00 30.00

896.58 516 -146.63 -1.26 -80.00 3901.3 3879.1 3923.6 1281.3 2048.9 105.17 -11.51 127 905.50 0.00 0.00 3.66 0.000 0.000 0.142 3902.41 3880.25 3924.56 1281.56 558.31 0 0 0 30.00 30.00 15.96

962.73 3205 -146.63 -1.21 0.00 3901.8 3879.8 3923.9 1281.2 558.4 114.55 -14.34 139 974.77 0.00 0.19 3.45 0.000 0.209 0.065 3901.88 3879.12 3924.62 1306.88 2049.31 0 0 0 30.00 15.59 15.18

1158.73 0 -146.63 -1.21 0.00 3901.9 3879.6 3924.2 1306.4 2049.2 134.61 -10.17 159 1160.60 0.00 0.00 0.00 0.000 0.000 0.000 3901.09 3878.81 3923.38 1307.06 2048.94 0 0 0 30.00 30.00 30.00

1309 end dive: TARGET_DEPTH_EXCEEDED

state 1309 begin apogee

1310.49 10243 0.00 -0.36 0.00 3901.8 3879.2 3924.2 1306.9 1999.5 150.59 -10.98 174 1424.30 100.79 1.42 0.09 1.200 0.159 0.227 3297.59 3359.62 3235.56 1513.88 2053.88 0 0 0 11.76 16.00 15.66

1425 end apogee: CONTROL_FINISHED_OK

state 1426 begin climb

1425.79 10503 146.63 1.44 80.00 3297.0 3359.2 3234.7 1514.2 2053.9 154.61 0.00 184 1557.12 105.81 2.93 3.66 1.171 0.112 0.135 2699.31 2809.19 2589.44 1951.38 3491.50 0 0 0 11.73 15.66 15.44

1596.94 1156 146.63 1.35 0.00 2698.2 2804.9 2591.5 1951.2 3491.6 143.03 11.14 213 1605.74 0.00 0.00 3.49 0.000 0.000 0.070 2701.06 2807.50 2594.62 1951.94 1998.62 0 0 0 30.00 30.00 15.57

1792.75 20611 146.63 1.31 0.00 2693.7 2798.6 2588.9 1951.2 1998.4 121.01 11.34 233 1795.14 0.00 0.36 0.00 0.000 0.185 0.000 2694.84 2799.50 2590.19 1910.38 1997.56 0 0 0 30.00 15.74 30.00

1982.70 8486 162.46 1.33 80.00 2691.9 2796.8 2587.1 1909.8 1997.7 102.20 9.27 252 2006.99 12.75 0.00 3.71 1.016 0.000 0.132 2639.22 2744.81 2533.62 1910.44 3491.50 0 0 0 11.73 30.00 15.82

2036.04 1028 162.46 1.33 0.00 2636.2 2741.4 2530.9 1909.9 3490.9 96.46 11.14 262 2043.97 0.00 0.00 3.45 0.000 0.000 0.074 2637.62 2741.50 2533.75 1910.00 2000.50 0 0 0 30.00 30.00 15.87

2231.58 8226 198.72 1.37 0.00 2633.2 2738.2 2528.1 1910.1 1999.3 78.67 8.32 282 2264.15 28.84 0.00 0.00 1.085 0.000 0.000 2486.09 2597.75 2374.44 1910.88 1999.62 0 0 0 11.78 30.00 30.00

2448.43 2209 200.84 1.41 -80.00 2482.7 2593.2 2372.2 1909.7 1999.3 58.91 9.90 305 2450.72 0.00 0.25 0.00 0.000 0.077 0.000 2480.41 2590.06 2370.75 1954.12 1999.69 0 0 0 30.00 15.90 30.00

2633.66 260 200.84 1.41 80.00 2481.8 2591.8 2371.8 1954.0 1999.2 38.90 10.06 333 2642.54 0.00 0.00 3.69 0.000 0.000 0.136 2479.94 2591.44 2368.44 1953.94 3491.06 0 0 0 30.00 30.00 15.93

2691.78 1156 200.84 1.37 0.00 2481.7 2591.6 2371.8 1953.4 3490.6 32.34 11.63 344 2700.31 0.00 0.00 3.43 0.000 0.000 0.076 2478.47 2588.56 2368.38 1953.69 1999.50 0 0 0 30.00 30.00 15.97

2881.64 8486 237.61 1.41 80.00 2481.0 2590.6 2371.3 1953.9 1999.2 14.41 8.30 380 2927.82 32.64 0.00 3.71 1.053 0.000 0.136 2328.25 2442.81 2213.69 1954.12 3490.25 0 0 0 11.78 30.00 15.82

2931.95 9254 272.86 1.46 0.00 2329.2 2444.6 2213.8 1953.9 3490.7 10.22 8.37 389 2972.52 30.00 0.00 3.45 1.017 0.000 0.074 2184.25 2296.88 2071.62 1952.88 1999.62 0 0 0 11.78 30.00 15.86

3156.80 10919 486.68 1.83 -80.00 2179.5 2297.4 2061.6 1953.9 1999.7 5.03 0.10 433 3266.20 98.54 0.55 0.00 1.040 0.068 0.000 1660.44 1777.62 1543.25 2052.00 1999.50 0 0 0 11.68 15.90 30.00

3267 end climb: NO_VERTICAL_VELOCITY

state 3267 begin surface

ID	253	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	4	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	19	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	ROLL_MAXERRORS	1	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	1.7
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.89483023	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	6.6156788	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-186.595	SEABIRD_T_J	4.3e-06
MASS	72374	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022830076	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	240	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3850	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_FREQUENCY	13

GPS1	200623,114510,4735.928,-12256.793,2,1.1,31,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,114834,4735.927,-12256.770,2,0.7,3,15.4	MHEAD_RNG_PITCHd_Wd	3.0,1178,-17.6,-10.000,-21.21,2209,0.165
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.191162,-1919.098877,522.196289
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	xmit part outbox0000.n 874 0	_10V_AH	14.99,0.000
NET_PING	1687264510,29,375.310516,16.000000,-0.524498	FG_AHR_24Vo	6.821
NAV	1687264214,56.8,0,stop	FG_AHR_10Vo	0.926
FREEZE	4.44,14.849,-1.473,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3502.55,212.55,1.002,0,500.9,580.0,421.9,686.61	MEM2	945740,32,100828,68
SM_GC	2.34,0.00,12.02,0.09,0.000,0.077,0.155,496.6,571.8,421.4,189.2,2053.5,0,0,0,30.00,15.56,15.57	DATA_FILE_SIZE	12967,453
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	172536,0
IRIDIUM_FIX	4736.00,-12258.89,200623,105219	SDSIZE	3887104,3868736
TCM_TEMP	15.76	SDFILEDIR	169,20
SC_FREEKB	3872576	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.019, 86.8,1
HUMID	44.42	MAGCAL	1.000000,0.003510,-0.034108,0.010777,1.067857,0.064016,-0.002354,0.055305,1.143537,-767.8,-1801.2,145.8,35,0.0169,0
TEMP	10.65	IMPLIED_C_PITCH	1619,13.97,235,0.0,0.00
INTERNAL_PRESSURE	7.93402	IMPLIED_C_VBD	3108,20.437967,235,0
_24V_AH	14.96,6.357	GPS	200623,124950,4736.320,-12256.579,0,1.1,2,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	730	1199	13109.12	nil	0	0	0.00
Pitch_motor	26	284	112.09	nil	0	0	0.00
Roll_motor	50	227	170.47	nil	0	0	0.00
Iridium	133	147	295.14	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	2282	5	175.17	SciCon	3273	6	339.56
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1282	0	6.15
Compass	1143	5	85.68
RAFOS	309	40	185.53
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.86	16386	-146.63	-1.44	0.00	494.2	567.3	421.0	189.4	2000.5	0.00	0.00	0	62.21	50.17	0.00	0.00	0.005	0.000	0.000	1853.34	1925.56	1781.12	189.38	2000.81	0	0	0	15.91	30.00	30.00
62.73	18983	-146.63	-1.44	-80.00	1855.6	1926.8	1784.4	189.4	2000.8	3.17	-3.51	10	150.97	58.42	8.45	3.55	0.005	0.284	0.147	3900.00	3877.12	3922.88	1251.31	558.31	0	0	0	15.92	15.77	15.84
290.05	3205	-146.63	-1.32	0.00	3900.3	3877.8	3922.9	1251.8	558.2	32.67	-15.66	53	298.29	0.00	0.20	3.38	0.000	0.227	0.066	3900.16	3877.62	3922.69	1280.75	2047.38	0	0	0	30.00	15.88	15.94
487.17	516	-146.63	-1.32	-80.00	3900.6	3878.2	3923.0	1280.8	2048.3	57.23	-11.71	85	496.09	0.00	0.00	3.67	0.000	0.000	0.140	3900.22	3878.12	3922.31	1280.56	554.69	0	0	0	30.00	30.00	15.92
515.27	1156	-146.63	-1.26	0.00	3901.1	3878.9	3923.2	1281.3	554.4	60.77	-12.55	90	523.83	0.00	0.00	3.41	0.000	0.000	0.064	3900.81	3879.12	3922.50	1281.31	2049.00	0	0	0	30.00	30.00	15.97
706.53	0	-146.63	-1.26	0.00	3901.2	3878.7	3923.7	1280.8	2049.0	82.96	-11.68	108	708.40	0.00	0.00	0.00	0.000	0.000	0.000	3900.91	3878.50	3923.31	1280.75	2049.00	0	0	0	30.00	30.00	30.00
896.58	516	-146.63	-1.26	-80.00	3901.3	3879.1	3923.6	1281.3	2048.9	105.17	-11.51	127	905.50	0.00	0.00	3.66	0.000	0.000	0.142	3902.41	3880.25	3924.56	1281.56	558.31	0	0	0	30.00	30.00	15.96
962.73	3205	-146.63	-1.21	0.00	3901.8	3879.8	3923.9	1281.2	558.4	114.55	-14.34	139	974.77	0.00	0.19	3.45	0.000	0.209	0.065	3901.88	3879.12	3924.62	1306.88	2049.31	0	0	0	30.00	15.59	15.18
1158.73	0	-146.63	-1.21	0.00	3901.9	3879.6	3924.2	1306.4	2049.2	134.61	-10.17	159	1160.60	0.00	0.00	0.00	0.000	0.000	0.000	3901.09	3878.81	3923.38	1307.06	2048.94	0	0	0	30.00	30.00	30.00
1309	end dive: TARGET_DEPTH_EXCEEDED
state	1309	begin apogee
1310.49	10243	0.00	-0.36	0.00	3901.8	3879.2	3924.2	1306.9	1999.5	150.59	-10.98	174	1424.30	100.79	1.42	0.09	1.200	0.159	0.227	3297.59	3359.62	3235.56	1513.88	2053.88	0	0	0	11.76	16.00	15.66
1425	end apogee: CONTROL_FINISHED_OK
state	1426	begin climb
1425.79	10503	146.63	1.44	80.00	3297.0	3359.2	3234.7	1514.2	2053.9	154.61	0.00	184	1557.12	105.81	2.93	3.66	1.171	0.112	0.135	2699.31	2809.19	2589.44	1951.38	3491.50	0	0	0	11.73	15.66	15.44
1596.94	1156	146.63	1.35	0.00	2698.2	2804.9	2591.5	1951.2	3491.6	143.03	11.14	213	1605.74	0.00	0.00	3.49	0.000	0.000	0.070	2701.06	2807.50	2594.62	1951.94	1998.62	0	0	0	30.00	30.00	15.57
1792.75	20611	146.63	1.31	0.00	2693.7	2798.6	2588.9	1951.2	1998.4	121.01	11.34	233	1795.14	0.00	0.36	0.00	0.000	0.185	0.000	2694.84	2799.50	2590.19	1910.38	1997.56	0	0	0	30.00	15.74	30.00
1982.70	8486	162.46	1.33	80.00	2691.9	2796.8	2587.1	1909.8	1997.7	102.20	9.27	252	2006.99	12.75	0.00	3.71	1.016	0.000	0.132	2639.22	2744.81	2533.62	1910.44	3491.50	0	0	0	11.73	30.00	15.82
2036.04	1028	162.46	1.33	0.00	2636.2	2741.4	2530.9	1909.9	3490.9	96.46	11.14	262	2043.97	0.00	0.00	3.45	0.000	0.000	0.074	2637.62	2741.50	2533.75	1910.00	2000.50	0	0	0	30.00	30.00	15.87
2231.58	8226	198.72	1.37	0.00	2633.2	2738.2	2528.1	1910.1	1999.3	78.67	8.32	282	2264.15	28.84	0.00	0.00	1.085	0.000	0.000	2486.09	2597.75	2374.44	1910.88	1999.62	0	0	0	11.78	30.00	30.00
2448.43	2209	200.84	1.41	-80.00	2482.7	2593.2	2372.2	1909.7	1999.3	58.91	9.90	305	2450.72	0.00	0.25	0.00	0.000	0.077	0.000	2480.41	2590.06	2370.75	1954.12	1999.69	0	0	0	30.00	15.90	30.00
2633.66	260	200.84	1.41	80.00	2481.8	2591.8	2371.8	1954.0	1999.2	38.90	10.06	333	2642.54	0.00	0.00	3.69	0.000	0.000	0.136	2479.94	2591.44	2368.44	1953.94	3491.06	0	0	0	30.00	30.00	15.93
2691.78	1156	200.84	1.37	0.00	2481.7	2591.6	2371.8	1953.4	3490.6	32.34	11.63	344	2700.31	0.00	0.00	3.43	0.000	0.000	0.076	2478.47	2588.56	2368.38	1953.69	1999.50	0	0	0	30.00	30.00	15.97
2881.64	8486	237.61	1.41	80.00	2481.0	2590.6	2371.3	1953.9	1999.2	14.41	8.30	380	2927.82	32.64	0.00	3.71	1.053	0.000	0.136	2328.25	2442.81	2213.69	1954.12	3490.25	0	0	0	11.78	30.00	15.82
2931.95	9254	272.86	1.46	0.00	2329.2	2444.6	2213.8	1953.9	3490.7	10.22	8.37	389	2972.52	30.00	0.00	3.45	1.017	0.000	0.074	2184.25	2296.88	2071.62	1952.88	1999.62	0	0	0	11.78	30.00	15.86
3156.80	10919	486.68	1.83	-80.00	2179.5	2297.4	2061.6	1953.9	1999.7	5.03	0.10	433	3266.20	98.54	0.55	0.00	1.040	0.068	0.000	1660.44	1777.62	1543.25	2052.00	1999.50	0	0	0	11.68	15.90	30.00
3267	end climb: NO_VERTICAL_VELOCITY
state	3267	begin surface